2940results about "Tunnels" patented technology

The invention discloses a shield tunneling intelligent control method and system based on a ground-tunnel-machine-information-human adaptation level, and relates to the crossing field of underground engineering intelligent construction and information technology. Setting a first-level index and a second-level index; dividing the shield construction state into three levels of intelligent adaptation levels by combining the total score of the construction state with a dynamic threshold value; setting four targets of attitude intelligent control, settlement intelligent control, tunneling efficiency optimization and construction abnormity diagnosis; a machine learning prediction model is constructed, and the construction state parameters corresponding to the targets are predicted in real time; according to the shield intelligent adaptation level, the man-machine cooperation modes are divided into three classes of A level, B level and C level; and comparing actual data with a prediction result of the machine learning model, and dynamically correcting the control target parameters. Through real-time sensing of geological, mechanical and environmental multi-dimensional construction states and in combination with a dynamic weight distribution strategy, precise evaluation of the shield construction state is achieved, and meanwhile self-adaptive switching of the man-machine control right is achieved.

A bilateral expanding excavation construction method for a middle pilot tunnel of a tunnel is provided. Section or excavation width of the middle pilot tunnel is generally not larger than that of a common double-line or double-lane tunnel; a step construction method is adopted, and the construction method is the same as that of a common double-line or double-lane tunnel; and the construction method is familiar to constructors, and the construction difficulty is avoided. A primary support section of the middle pilot tunnel can be expanded and excavated after being closed by at least 3 meters; if a side tunnel face is stable, and the problem of the operation height of manual installation of a steel frame and an anchor rod is solved, one-time excavation and support can be achieved, and the construction is more convenient; or otherwise, a side tunnel is excavated according to a two-step or three-step method. The primary support of the middle pilot tunnel can be timely closed; the primary support of the side tunnel and the primary support of the middle pilot tunnel can be completely connected in sequence, and various errors and deformation influences of surrounding rocks and the supportare left at an inverted arch part for treatment; and the construction progress is basically the same as that of the common double-line or double-lane tunnel.

The invention discloses a device judging whether or not an earth pressure balance shield earth chamber is full. The device comprises a pressure detector disposed on the upper portion of a front shield earth chamber of the earth pressure balance shield; the signal output end of a pressure sensor is connected with an upper computer; the upper computer judges whether or not the chamber is full; if not, a warning signal is sent to an alarm unit. The device has the advantages that whether or not the earth chamber is full can be judged anytime during earth pressure balance shield tunneling, full-chamber shield tunneling can be ensured and the application of full-chamber tunneling decreases the danger of collapse ahead.

The invention relates to the technical field of tunnel engineering and intelligent construction, in particular to a shield tunneling real-time control method based on a random forest and a particle swarm optimization algorithm. The method comprises the steps that initial tunneling parameters are generated through a parameter recommendation random forest model according to geology and tunnel geometric parameters, and model hyper-parameters are optimized through a sparrow optimization algorithm; carrying out settlement prediction by utilizing the settlement prediction random forest model; if the predicted value exceeds the limit, carrying out iterative optimization by adopting a particle swarm optimization algorithm and taking the initial parameter as a starting point, and searching a global optimal tunneling parameter combination meeting the settlement requirement; finally, the optimized parameters are issued to the shield tunneling machine to be executed, the model is continuously updated based on real-time construction data, and closed-loop control is formed. According to the method, intelligent recommendation and real-time optimization of tunneling parameters can be realized, the ground surface settlement control precision and the system response speed are improved, the dependence on artificial experience is effectively reduced, and the self-adaptive capability and the intelligent level of shield construction under complex geological conditions are enhanced.

The invention provides a tunnel hard rock non-blasting excavation method. The tunnel hard rock non-blasting excavation method can realize efficient excavation of complete or relatively complete hard rock without adopting large excavation equipment such as a heading machine and the like , and is characterized by comprising the following steps of 1, drilling contour holes along a tunnel face contour line so as to determine a tunnel excavation range, and determining each drilling and grooving position according to the excavation range, then, forming and drilling a plurality of cavity expanding holes in the position close to the positions; 2, drilling a plurality of rows of guide holes between the contour holes and the cavity expanding holes; 3, drilling groove forming holes which are meshed and overlapped with each other at the determined drilling and grooving positions, and finally forming a groove cavity; 4, enabling the cavity expanding holes near the groove cavity to be subjected to impact crushing, and therefore expanding excavation is conducted on the groove cavity; 5, according to a certain excavation sequence, starting from the guide holes close to the expanded and excavated groove cavity, adopting a hydraulic breaking hammer for conducting impact breaking on the guide holes, so that excavation of the rock mass of a main body part is completed; and 6, conducting impact crushing on the contour holes.

The invention discloses a shield tunnel muck improvement parameter prediction method and system, and relates to the technical field of tunnel engineering construction.The method comprises the steps that a multi-modal sensor is arranged at a key part of a shield tunneling machine, and tunneling parameters, stratum parameters, multi-modal sensor signals, muck physical properties and modifier injection parameters are collected; then, extracting change characteristics, calculating mutation sensitive factors and carrying out working condition judgment; constructing a normal prediction sub-model library and a sudden change quick response model, calculating a stratum model adaptation index and performing model suitability judgment; establishing a working condition coupling prediction model by using a graph neural network, extracting nonlinear coupling characteristics, calculating a working condition coupling index and judging prediction stability; actual construction performance data are collected and compared with a model prediction result, a prediction correction index is calculated, deviation analysis is carried out, and a corresponding correction strategy is triggered. According to the method, intelligent prediction and dynamic correction of shield tunnel muck improvement parameters can be achieved, and the safety and stability of the construction process are improved.

The invention relates to the technical field of tunnel construction, and discloses a coal mine goaf karst tunnel construction method which comprises the following steps: S1, performing three-dimensional scanning on the axis and the periphery of a tunnel by adopting a high-frequency geological radar in combination with aerial survey of an unmanned aerial vehicle, and accurately positioning the boundary of a goaf, the development form of a karst cave and filler distribution; and S2, integrating a seismic wave reflection method, drilling and coring data and a geological sketch result, constructing a three-dimensional geological model, and dynamically predicting a potential water inrush and mud inrush risk area. According to the method, a high-frequency geological radar is combined with aerial survey of an unmanned aerial vehicle, three-dimensional scanning is conducted on the axis and the periphery of a tunnel, geological radar data, a point cloud model and tunnel design BIM are integrated, the boundary of a goaf (the error is smaller than or equal to 0.3 m) and the karst cave form are marked, and the collapse risk level is predicted based on rock mass mechanical parameters (compressive strength and fracture density) and hydrological data (seepage paths). Therefore, the method has the advantages of advanced detection, multi-source data fusion and the like, and the resolution of geological forecast is improved.

The invention discloses a tunnel boring machine (TBM) tunneling method for a large-diameter inclined shaft under a deep coal mine well, belongs to the technical field of mine construction engineering and tunnel tunneling, and aims to solve the problems of poor axis control precision and deviation correction response lag caused by the fact that an existing method depends on manpower and cannot integrate geology and inclination angle information for self-adaptive thrust distribution. The surrounding rock strength grade is judged according to the torque and the speed by collecting the cutterhead torque, the rotating speed, the total propulsive force and the pitch angle in real time; calculating a gravity component force and an unstable moment by combining the pitch angle, and calculating a required deviation correction moment according to the real-time angle deviation; a pre-stored data table is inquired based on the pitch angle, the surrounding rock grade and the deviation rectifying torque, and the target pressure distribution proportion of the upper and lower partition oil cylinders is dynamically generated; and finally, the total propulsive force set value is decomposed according to the proportion, the pressure of an oil cylinder is adjusted through independent closed-loop control, and self-adaptive accurate control over the pitch attitude is achieved. The method is mainly used for improving the axis control precision and stability of the large-diameter inclined shaft TBM construction of the deep coal mine.

The invention relates to the technical field of tunnel and underground engineering construction, and discloses an intelligent closed-loop control system and method for a tunnel construction section contour, and the method comprises the steps: collecting geological-geometric data through the fusion of a three-dimensional laser scanner and a geological radar before blasting; dynamically generating a theoretical blasting contour line and adaptive blasting parameters through a convolutional neural network; iMU positioning and a PID controller are combined to realize millimeter-level accurate control of the drill boom; generating a three-dimensional deviation field by adopting an iterative point cloud registration algorithm after blasting; when the deviation exceeds a threshold value, triggering incremental learning to optimize model parameters; and finally, closed-loop iteration is formed. Through multi-source data fusion, contour and parameter intelligent generation, precise execution control, three-dimensional deviation field feedback and an incremental learning mechanism, a complete intelligent closed-loop control system is constructed, the limitation of traditional blasting design depending on experience is broken through, and the precision, efficiency and economic benefits of tunnel construction are remarkably improved.

An open-type TBM for tunnel expanding excavation is used for executing expanding excavation operation of an original tunnel with the cross section in a city gate shape, a front shield protection plate and a middle shield protection plate are arranged between a front shield and a middle shield of the open-type TBM, the front portion of the front shield protection plate is fixedly connected with the rear portion of the front shield, the front shield protection plate is located on the outer side of the middle shield protection plate, and the middle shield protection plate is located on the outer side of the middle shield protection plate. The rear portion of the front shield protection plate and the front portion of the middle shield protection plate are partially overlapped, and the rear portion of the middle shield protection plate is fixedly connected with the front portion of the middle shield. By means of the design, it can be avoided that slag materials are exposed behind a TBM host and slide to the bottom area of a tunnel to be accumulated under the combined action of water flow in the tunnel and mechanical disturbance, and then continuous tunneling of the TBM is affected.

The invention discloses a deviation rectification control method and system for simulating shield excavation, and relates to the technical field of shield control. The deviation rectification control method and system for simulating shield excavation comprise the steps that S1, shield deviation rectification data are collected in real time, and the shield deviation rectification data are preprocessed; s2, extracting an attitude deviation component, comprehensively evaluating environmental drift and optical distortion influence of attitude deviation, and generating each calibrated attitude angle; s3, all the calibrated attitude angles are read, attitude correction required values in all directions are calculated in combination with the laser target deviation value, the dynamic fluctuation degree of the execution process is quantified, and the target stroke of the deviation correction oil cylinder is obtained; and S4, the target speed is calculated, a deviation rectification control instruction is generated and issued for execution, a deviation rectification execution data set is formed, and a deviation rectification control closed loop is completed. The problems that an existing system lacks an automatic calibration and anomaly recognition mechanism, sensing data distortion still participates in deviation correction control, PLC attitude calculation errors are accumulated, and false deviation correction is generated are solved.

The invention discloses a muck treatment capacity monitoring method and a muck treatment capacity monitoring system, and relates to the technical field of shield construction and muck treatment capacity prediction treatment, and the method comprises the following steps: collecting operation parameters of a shield tunneling machine deslagging and conveying link, calculating a muck flow coupling index, evaluating a deslagging link coupling state, and carrying out optimization; the load coupling index of the shield tunneling machine is calculated, the energy distribution balance is judged, and dynamic adjustment is conducted according to the unbalance state; calculating the energy consumption deslagging propulsion efficiency, evaluating the matching degree, and optimizing the power and conveying parameters of each link; a CNN and LSTM combined multi-scale modeling method is adopted to predict the future muck handling capacity, and online correction is carried out through a sudden change adaptive network; and finally, fusing the standardized data set with the actual operation parameters to generate a unit time muck handling capacity sequence. By means of the method, the deslagging and propelling matching degree of the shield tunneling machine can be improved, the energy utilization efficiency is optimized, and high-precision prediction and real-time regulation and control of the muck handling capacity are achieved.

The invention discloses a shield tunneling machine intelligent tunneling regulation and control system and method based on muck digital imaging and a knowledge graph, and the system comprises a muck image collection module, an image processing unit, a knowledge graph reasoning module, a parameter reference suggestion generation module, a visual interaction module, and a feedback and iterative optimization module. The method comprises the following steps: acquiring an image of residue soil on a residue discharge belt of a shield tunneling machine in real time, dynamically identifying a stratum type and a change trend in combination with a knowledge graph, generating a reference regulation and control suggestion of tunneling parameters of the shield tunneling machine, and displaying the reference regulation and control suggestion on a screen. According to the method, a shield tunneling machine driver can scientifically and systematically adjust construction operation, the real-time performance and accuracy of stratum recognition are improved, cutter head abrasion and shield attitude offset caused by uneven hardness or boulder strata are reduced, and construction safety and tunneling efficiency are improved; the system carries out iterative optimization on the knowledge graph and the image recognition model according to construction feedback, the adaptability and reliability of the system under different working conditions are enhanced, and the construction economy and the engineering application value are improved.

The invention discloses a shield cutter cutting load real-time monitoring and adjusting method and system. The method comprises the following steps: constructing a shield cutter distributed sensing network, and collecting strain, vibration and temperature of a cutter; a wireless transmission network is established, and the collected strain, vibration and temperature of the cutter are transmitted in real time; according to the strain, vibration and temperature, received in real time, of the cutter, cutting load parameters are obtained in a multi-source data fusion mode; based on the obtained cutting load parameters, stratum parameter identification is carried out in combination with a deep learning algorithm; in combination with the stratum parameters and the cutting load parameters, a wear state evaluation model based on fuzzy reasoning is established, and the tool wear state is evaluated; and designing a multi-objective optimization function according to the wear state of the cutter and the stratum parameters, solving the multi-objective optimization function, obtaining optimal shield tunneling machine operation parameters, and performing dynamic adjustment. The cutting load of each cutter in shield construction can be monitored in real time, and the cutter parameters can be adaptively adjusted.

The invention provides tunnel inverted arch trestle construction equipment and an arch bottom surrounding rock excavation device, and belongs to the technical field of tunnel construction equipment. The tunnel inverted arch trestle construction equipment comprises a trestle body and an arch bottom surrounding rock excavation device arranged at the front end of the trestle body, and the arch bottom surrounding rock excavation device is provided with a muck transportation mechanism used for lifting and transporting excavated arch bottom surrounding rock muck into a muck truck parked on the trestle body. The arrangement position of the muck conveying mechanism corresponds to the interval between the two main bridge plates of the trestle body, the muck conveying mechanism is provided with a working position with the muck discharging end located above the interval between the two main bridge plates so that muck can be discharged into a muck truck, and the muck conveying mechanism is further provided with an avoiding position where the muck can fall to the trestle body through the interval between the two main bridge plates so that normal traffic can be achieved. The muck conveying mechanism is provided with a control mechanism for controlling the muck conveying mechanism to be switched between the working position and the avoiding position. According to the invention, excavation can be carried out while muck discharge is realized, the muck discharge efficiency is higher, and the subsequent construction efficiency can be improved.

The invention discloses a half coal rock digging and anchoring all-in-one machine, and relates to the technical field of mining devices, the half coal rock digging and anchoring all-in-one machine comprises a pair of rear drill arm parts arranged on a machine body part, and each rear drill arm part comprises a swing oil cylinder III and a rear onboard jumbolter; a recoil force grading detection mechanism is arranged between the swing oil cylinder III and the rear onboard jumbolter; the recoil force grading detection mechanism comprises a recoil force sensor, a first microswitch, a buffer mechanism and a connecting mechanism. By arranging the recoil force grading detection mechanism, recoil force is transmitted to the mounting plate during working, the mounting plate drives the swing oil cylinder plate to act through the connecting mechanism, the connecting plate of the buffer mechanism triggers a first microswitch firstly and then abuts against a recoil force sensor, and grading detection of the recoil force is achieved; the mechanism solves the problem that the angle deflection of the rear onboard jumbolter is caused by the recoil force but is lack of effective grading detection, avoids the risk of compensation failure caused by the fault of a single detection element, and improves the detection reliability of the recoil force.

The invention discloses a boulder dense stratum geological radar detection method based on horizontal directional drilling, which comprises the following steps of: firstly, drilling into a stratum from the earth surface at a smaller incidence angle by adopting the horizontal directional drilling, and drilling along the central axis of a shield tunnel to form a drill hole with the diameter of about 30cm; after drilling is completed, the geological radar is fixed to the rear portion of the drill bit through a rigid connecting device, and the geological radar synchronously advances and rotates along with the drill bit. Four rolling balls are arranged at the bottom of the geological radar to reduce motion resistance and are tightly attached to the inner wall of a drill hole to ensure detection stability. The geological radar is driven by rotation of a drill bit to rotate by 360 degrees for detection, so that stratum information around a drill hole is obtained; then, performing image recognition on drilling slag, and establishing a corresponding relation between a geological radar image and a stratum type so as to optimize interpretation precision of geological radar data; and finally, in combination with geological radar detection data and a drilling deslagging analysis result, generating a boulder distribution profile map, and predicting the boulder distribution condition on the tunneling path of the shield tunneling machine.

The invention discloses a V-shaped propelling system suitable for a small-turning urban door opening tunnel and a construction method of the V-shaped propelling system. The system comprises a TBM main machine, a rear matched trailer, a wheel type cutter head system and a deslagging system. The TBM main machine is connected with the wheel type cutterhead system through the rear matching trailer, the TBM main machine is arranged on the front portion of the propelling system, the wheel type cutterhead system is arranged on the rear portion of the propelling system, and the slag discharging systems are installed in the TBM main machine, the rear matching trailer and the wheel type cutterhead system. The construction method comprises a tunneling process and a step changing process. The direction adjusting range of the main machine is large, the steering action is more flexible, the main machine structure is more compact, the curve adaptability of the shield body is higher, the wheel type cutter head better fits the tunnel curve, the construction amount is greatly reduced, and the construction efficiency of the small-turning-radius city gate opening tunnel is improved.

The invention provides a tunnel blasting vibration reduction method and system based on asymmetric slotting, relates to the technical field of geotechnical engineering numerical simulation, and provides an integrated intelligent blasting vibration reduction system of asymmetric slotting structure optimization-quantum genetic algorithm collaborative optimization-model dynamic regulation. Triple fusion of a physical mechanism, a mathematical algorithm and an information technology of proximity tunnel blasting vibration control is creatively achieved, the bottleneck that a traditional method depends on experience trial and error, model static lag and vibration control and construction efficiency are difficult to consider at the same time is broken through, vibration speed control precision is improved, tunneling efficiency is improved, and meanwhile the construction efficiency is improved. The dynamic adaptability to complex geological conditions is remarkably enhanced, and a new generation of integrated solution is provided for safe, efficient and intelligent construction of the adjacent tunnel.

The invention discloses a tunneling parameter optimization and hob abnormal wear avoidance method based on shield cutterhead vibration, and relates to the technical field of tunnel and underground engineering, and the method comprises the steps: collecting three-way vibration signals during tunneling of a shield cutterhead; driving the shield cutter head to execute an in-situ tunneling experiment, and synchronously calculating a vibration signal characteristic value by using the three-way vibration signal; carrying out bin opening detection and statistics on the abrasion type of each hob, and judging the abnormal damage level of the shield cutter head in combination with the material structure information of the hobs; extracting vibration intensity ranges when the shield cutter head is at different abnormal damage grades, and taking the corresponding vibration intensity range when the shield cutter head is at the lowest abnormal damage grade as a target tunneling range; and analyzing whether the vibration intensity of the shield cutter head is in the target tunneling range or not in real time during shield tunneling. According to the invention, the limitation of hysteresis of traditional geological exploration is broken through; hob breakage or eccentric wear accidents caused by geological sudden changes are avoided, and construction safety in complex stratums is remarkably improved.

The invention discloses a shield tunneling stratum intelligent identification method and system based on strict single sample prototype network and verification set scale calibration, and the method comprises the steps: dividing samples collected from a shield tunneling machine in real time into a training set, a verification set and a test set according to a set time and an engineering interval; carrying out normalized preprocessing on the multi-dimensional mechanism parameters by adopting a training set, and then carrying out supervised pre-training on the lightweight MLP encoder by adopting a cosine interval classifier to obtain a discriminative embedding space; according to the method, a high-precision, reproducible and low-time-delay online recognition function on the shield tunneling stratum under the condition of extremely few labels is achieved, the overall precision and minority class recall can be considered on the premise that the labeling cost is not increased, so that the output probability is more calibrated, the expandability and rapid deployment capacity are achieved, and the method is suitable for popularization and application. And the real-time performance and the reliability of shield tunneling stratum identification are obviously improved.

The invention provides a wear coefficient correction method for a shield cutter, and relates to the technical field of wear monitoring, and the method comprises the steps: collecting a time sequence magnetic field signal obtained by a magnetic sensor array disposed on a non-rotating part of a shield tunneling machine, and synchronously obtaining a cutter angle coding signal; performing time-frequency conversion and filtering on the magnetic field signal to obtain a noise reduction time sequence signal; determining a geometric position sequence of each shield cutter in combination with the angle coding signals; based on the magnetic sensor pose, the tool position and the magnetic dipole model, theoretical magnetic field mapping between the tool and the sensor is constructed, and a system response matrix is generated; reconstructing an independent magnetic feature vector of each cutter to obtain an optimal feature set; generating a vector difference through comparison with a reference vector, inputting the vector difference into an abrasion identification model, obtaining the abrasion loss and type identification of each cutter, and correcting an abrasion coefficient; the method improves the wear recognition precision and reliability, and is suitable for tunnel construction under complex geological conditions.

The invention provides tunnel inverted arch trestle construction equipment, and belongs to the technical field of tunnel construction equipment. The tunnel inverted arch trestle construction equipment comprises a trestle, an arch bottom surrounding rock excavation device is arranged at the front end of the trestle, the rear end of the trestle is connected with a rear slope bridge, the arch bottom surrounding rock excavation device is provided with an independent walking mechanism, and a main body part of the arch bottom surrounding rock excavation device is located on the front side of the trestle. The arch bottom surrounding rock excavation device comprises a front slope bridge and a transition bridge connecting the front slope bridge and the trestle bridge, the rear portion of the transition bridge and the front portion of the trestle bridge are provided with an overlapping part, the overlapping part can relatively slide front and back, and the maximum length of the overlapping part is larger than the single excavation stroke of forward excavation of the arch bottom surrounding rock excavation device. The arch bottom surrounding rock excavation device can conduct excavation forwards without the help of a feeding driving piece connected to the trestle, the problems that stability is poor and trestle supporting is not stable due to the fact that the feeding driving piece is used are solved, the transition bridge and the trestle are always kept in the connection state in the excavation process, and the normal traffic function is guaranteed.

The invention belongs to the technical field of coal mine airtight wall building, and particularly relates to a movable type airtight wall building double-arm operation platform. Comprising a crawler walking mechanism, and a double-operation-arm stacking unit, a brick arranging area, a brick pre-arranging mechanical arm and a brick feeding area are sequentially arranged on the crawler walking mechanism from front to back; the brick pre-arranging mechanical arm is used for moving bulk bricks in the brick feeding area into the brick arranging area and arranging the bulk bricks into brick units according to the width of a wall body; the double-operation-arm stacking unit comprises a left stacking mechanical arm and a right stacking mechanical arm which act independently, the two stacking mechanical arms grab the brick units from the left row of brick units and the right row of brick units correspondingly to conduct wall building, and the two stacking mechanical arms cooperate to conduct wall building within the set length range. By means of the work division operation mode of brick pre-arrangement and overall stacking, the wall building efficiency can be greatly improved; the two stacking mechanical arms open left and right to conduct wall building operation, and the wall building efficiency is doubled compared with a traditional single-mechanical-arm mode.

The invention relates to the technical field of subway tunnel freezing method construction, in particular to an artificial stratum freezing wall thickness maintaining method based on freezing wall cooling capacity demand, which comprises the following steps: establishing an artificial freezing process hydrothermal phase change coupling numerical simulation method; introducing a freezing wall cooling capacity demand concept by considering a heat exchange relationship between the freezing wall edge and the surrounding environment; a freezing wall cold demand calculation model is established by considering various influence factors on the freezing wall cold demand; and finally, the freezing wall thickness control technology based on the cooling capacity requirement is applied to construction of an artificial stratum. According to the artificial stratum freezing wall thickness maintaining method based on the freezing wall cooling capacity requirement, the freezing pipe cooling capacity can be adjusted according to the freezing wall thickness, heat exchange dynamic balance between the outer wall of the freezing wall and the surrounding soil body is achieved by adjusting the freezing pipe cooling capacity, and it is guaranteed that the freezing wall thickness is kept unchanged; frost heaving caused by continuous expansion of the freezing wall can be avoided, the ground deformation is large in the freezing wall thawing process, and the influence on the environment is small.

The invention belongs to the technical field of induced polarization advanced detection. According to the TBM excavation-following induced polarization real-time advanced detection method and system, a TBM cutterhead and a TBM shield serve as power supply electrodes, and the detection efficiency and the TBM excavation efficiency are improved; acquiring first detection data when the TBM cutterhead clings to the tunnel face and the TBM cutterhead and the TBM shield supply power at the same time and second detection data when the TBM cutterhead leaves the tunnel face after retreating, the TBM cutterhead is not in contact with the surrounding rock and the TBM shield supply power independently, and taking a difference value between the first detection data and the second detection data as final detection data of the current detection round, and performing three-dimensional imaging processing on the final detection data of the plurality of detection rounds in any imaging period to obtain a continuous three-dimensional detection result in the imaging period. According to the TBM tunnel detection method, the difference of the detection data is made for denoising processing after tunneling of each round, real-time imaging is achieved in the imaging process, and the TBM tunnel detection effect is improved.

The invention relates to a tunneling action generation method and system based on time-space depth fusion multi-task prediction in the technical field of shield engineering data processing, and the method and system integrate local and global time sequence information through a dynamic depth fusion network, achieve the fusion of multiple time-space scales, improve the perception capability of complex working conditions, and improve the efficiency of shield engineering data processing. Meanwhile, future state prediction and control candidates are output, action fusion is carried out on a strategy layer, performance loss caused by prediction-control splitting is reduced, prediction-control integration is achieved, an uncertainty head is introduced, explicit constraint is carried out on a loss function and strategy fusion layer, the risk under stratum sudden change or sensing noise is effectively restrained, and the prediction-control performance is improved. Uncertainty constraint security is realized; on the basis of experience playback, weight self-adaption and noise removal, online self-adaption updating requirements of different stratums and tunneling stages are met, online self-adaption updating can be achieved, and the action generation capacity of tunneling stability control under the complex stratums and noise conditions is remarkably improved.

The invention relates to the technical field of tunnel and underground engineering construction, and particularly discloses drilling and splitting combined tunneling equipment and a tunneling method. The equipment comprises a drilling and splitting module, wherein the drilling and splitting module comprises a large drill bit assembly; the small drill bit splitting units are inserted into the mounting holes in the shield shell in a penetrating manner; each small drill bit splitting unit comprises a drill bit; one end of the drill rod is fixedly connected to the drill bit; the drill rod is sleeved with the wedge-shaped sleeve in a threaded fit mode, and the outer contour size of the working end of the wedge-shaped sleeve is smaller than that of the special-shaped end of the wedge-shaped sleeve; an output shaft of the small drill bit driver is in transmission connection with the other end of the drill rod; the thrust oil cylinder is connected with the small drill bit splitting units through sliding blocks. Tunneling equipment is adopted in the tunneling method. Therefore, the construction process of the TBM can be optimized, the comprehensive energy consumption is effectively reduced, the control precision of the tunneling attitude is improved, the service life of key components is prolonged, and the energy consumption of the TBM is reduced on the basis of ensuring the construction quality and the construction efficiency.

The invention relates to a TBM attitude adaptive correction method and system, and belongs to the technical field of heading machines, and the method comprises the steps: respectively calling a multi-target genetic algorithm and a reinforcement learning algorithm to obtain a corresponding candidate correction strategy set and a corresponding compensation strategy set; selecting an initial deviation correction strategy from the candidate deviation correction strategy set according to the dispersion of the strategy set, and optimizing the initial deviation correction strategy by using the compensation strategy set to generate an optimal deviation correction strategy; inputting the optimal correction strategy into a pre-trained confidence evaluation model used for evaluating the credibility of the correction strategy to obtain the confidence of the optimal correction strategy; and determining the current deviation rectification mode corresponding to the confidence coefficient of the optimal deviation rectification strategy from a preset corresponding relation between the confidence coefficient and the deviation rectification mode, so that the TBM performs deviation rectification according to the current deviation rectification mode, the uncertainty caused by deviation rectification depending on a digital model is reduced, the TBM is subjected to direction adjustment through man-machine cooperation, and the deviation rectification efficiency of the TBM is improved.

The invention relates to a planetary double-spoke cutterhead device for soft soil stratums, which comprises a rigid cutterhead frame, and the rigid cutterhead frame comprises two main spokes which are oppositely arranged in the radial direction and an auxiliary spoke which is arranged between the two main spokes; the main spokes and the auxiliary spokes are fixedly connected to the driving connecting base. The main spokes and the auxiliary spokes are fixedly connected to the driving connecting base. The scraping cutters are fixedly mounted on the main spokes and the auxiliary spokes; the output end of the planetary transmission mechanism is connected with the driving connecting seat, and the planetary transmission mechanism is configured to drive the driving connecting seat and drive the rigid cutter head frame to execute a compound planetary motion; the simple rigid frame is adopted to fix the scraping cutter, so that the structure of the cutter head is extremely simple, the extremely high aperture ratio is obtained, and the technical problem that mud cakes are easily formed on the cutter head in a soft soil stratum is effectively solved; and meanwhile, the framework is driven to perform specific planetary motion, so that the full-section excavation of the triangular section is successfully realized, and the high aperture ratio and the special-shaped section forming capability are integrated.